Create Example34_I2C_Serial_Passthrough.ino

PaulZC · PaulZC · commit 98c384d25cc2 · 2024-08-14T12:34:46.000+01:00
diff --git a/examples/Basics/Example34_I2C_Serial_Passthrough/Example34_I2C_Serial_Passthrough.ino b/examples/Basics/Example34_I2C_Serial_Passthrough/Example34_I2C_Serial_Passthrough.ino
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+/*
+  I2C - Serial Passthrough
+  By: Paul Clark
+  SparkFun Electronics
+  Date: August 14th, 2024
+  License: MIT. See license file for more information.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  SparkFun GPS-RTK2 - ZED-F9P (GPS-15136)    https://www.sparkfun.com/products/15136
+  SparkFun GPS-RTK-SMA - ZED-F9P (GPS-16481) https://www.sparkfun.com/products/16481
+  SparkFun MAX-M10S Breakout (GPS-18037)     https://www.sparkfun.com/products/18037
+  SparkFun ZED-F9K Breakout (GPS-18719)      https://www.sparkfun.com/products/18719
+  SparkFun ZED-F9R Breakout (GPS-16344)      https://www.sparkfun.com/products/16344
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GNSS and a RedBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Connect the RedBoard to your PC using a USB cable
+  Connect with u-center at 115200 baud to communicate with the GNSS
+
+  How it works:
+  Data arriving on Serial is added to the uartI2cRingBuffer.
+  If the uartI2cRingBuffer contains at least uartI2cSendLimit bytes, these are 'pushed' to the GNSS I2C register 0xFF.
+  If the uartI2cRingBuffer contains less than uartI2cSendLimit bytes, and it is more than uartI2cSendInterval_ms
+  since the last send, these are 'pushed' to the GNSS I2C register 0xFF.
+  Every i2cReadInterval_ms, the number of available bytes in the GNSS I2C buffer is read (from registers 0xFD and 0xFE)
+  and stored in i2cBytesAvailable.
+  If GNSS data is available, it is read in blocks of i2cReadLimit bytes and stored in i2cUartRingBuffer.
+  If the i2cUartRingBuffer contains at least i2cUartSendLimit bytes, these are written to Serial.
+  If the i2cUartRingBuffer contains less than i2cUartSendLimit bytes, and it is more than i2cUartSendInterval_ms
+  since the last send, these are written to Serial.
+*/
+
+#include "Arduino.h"
+
+HardwareSerial &mySerial = Serial; // USB Serial. Change this if needed
+
+#include <Wire.h>
+
+TwoWire &myWire = Wire; // TwoWire (I2C) connection to GNSS. Change this if needed
+
+const uint8_t gnssAddress = 0x42; // GNSS I2C address (unshifted)
+
+const uint16_t ringBufferSize = 512; // Define the size of the two ring buffers
+uint8_t i2cUartRingBuffer[ringBufferSize];
+uint16_t i2cUartBufferHead = 0;
+uint16_t i2cUartBufferTail = 0;
+uint8_t uartI2cRingBuffer[ringBufferSize];
+uint16_t uartI2cBufferHead = 0;
+uint16_t uartI2cBufferTail = 0;
+
+const unsigned long uartI2cSendInterval_ms = 50;
+unsigned long uartI2cLastSend_ms = 0;
+const uint16_t uartI2cSendLimit = 16;
+
+const unsigned long i2cUartSendInterval_ms = 50;
+unsigned long i2cUartLastSend_ms = 0;
+const uint16_t i2cUartSendLimit = 16;
+
+const unsigned long i2cReadInterval_ms = 50;
+unsigned long i2cLastRead_ms = 0;
+uint16_t i2cBytesAvailable = 0;
+const uint16_t i2cReadLimit = 16;
+
+void setup()
+{
+
+    delay(1000); // Wait for ESP32 to start up
+
+    mySerial.begin(115200); // Baud rate for u-center
+
+    myWire.begin();          // Start I2C
+    myWire.setClock(400000); // 400kHz
+} // /setup
+
+void loop()
+{
+
+    // If it is more than i2cReadInterval_ms since the last read, read how
+    // many bytes are available in the GNSS I2C buffer. This will leave the register
+    // address pointing at 0xFF.
+    if ((millis() > (i2cLastRead_ms + i2cReadInterval_ms)) || (i2cLastRead_ms == 0))
+    {
+        i2cBytesAvailable = gnssI2cAvailable();
+        i2cLastRead_ms = millis();
+    }
+
+    // If Serial data is available, add it to the buffer
+    if (Serial.available())
+        addToUartI2cBuffer(Serial.read());
+
+    // Check how many bytes are available in the uartI2cRingBuffer
+    uint16_t uartI2cAvailable = ringBufferAvailable(uartI2cBufferHead, uartI2cBufferTail);
+    if (uartI2cAvailable > 0)
+    {
+        // We must avoid sending a single byte. Send one byte less if needed.
+        uint16_t bytesToSend = uartI2cAvailable;
+        if (bytesToSend > uartI2cSendLimit) // Limit to uartI2cSendLimit
+            bytesToSend = uartI2cSendLimit;
+        if ((uartI2cAvailable - bytesToSend) == 1) // If this would leave one byte in the buffer
+            bytesToSend--;                         // Send one byte less
+        // If uartI2cRingBuffer contains at least uartI2cSendLimit bytes, send them
+        if (bytesToSend >= (uartI2cSendLimit - 1))
+        {
+            sendI2cBytes(bytesToSend);
+            uartI2cLastSend_ms = millis();
+        }
+        // Else if uartI2cRingBuffer contains data and it is more than uartI2cSendInterval_ms
+        // since the last send, send them
+        else if ((bytesToSend > 0) && (millis() > (uartI2cLastSend_ms + uartI2cSendInterval_ms)))
+        {
+            sendI2cBytes(bytesToSend);
+            uartI2cLastSend_ms = millis();
+        }
+    }
+
+    // If the GNSS has data, read it now
+    if (i2cBytesAvailable > 0)
+    {
+        // Read a maximum of i2cReadLimit, to prevent the code stalling here
+        uint16_t bytesToRead = i2cBytesAvailable;
+        if (bytesToRead > i2cReadLimit)
+            bytesToRead = i2cReadLimit;
+        if (readI2cBytes(bytesToRead))
+            i2cBytesAvailable -= bytesToRead;
+    }
+
+    // Check how much data is in the i2cUartRingBuffer
+    uint16_t i2cUartAvailable = ringBufferAvailable(i2cUartBufferHead, i2cUartBufferTail);
+    if (i2cUartAvailable > 0)
+    {
+        uint16_t bytesToSend = i2cUartAvailable;
+        if (bytesToSend > i2cUartSendLimit)
+            bytesToSend = i2cUartSendLimit;
+        // If the buffer contains i2cUartSendLimit bytes, send them
+        if (bytesToSend == i2cUartSendLimit)
+        {
+            sendUartBytes(bytesToSend);
+            i2cUartLastSend_ms = millis();
+        }
+        // Else if i2cUartRingBuffer contains data and it is more than i2cUartSendInterval_ms
+        // since the last send, send them
+        else if ((bytesToSend > 0) && (millis() > (i2cUartLastSend_ms + i2cUartSendInterval_ms)))
+        {
+            sendUartBytes(bytesToSend);
+            i2cUartLastSend_ms = millis();
+        }
+    }
+} // /loop
+
+// Read how many bytes are available in the GNSS I2C buffer.
+// This will leave the register address pointing at 0xFF.
+uint16_t gnssI2cAvailable()
+{
+    // Get the number of bytes available from the module
+    uint16_t bytesAvailable = 0;
+    myWire.beginTransmission(gnssAddress);
+    myWire.write(0xFD);                               // 0xFD (MSB) and 0xFE (LSB) are the registers that contain number of bytes available
+    uint8_t i2cError = myWire.endTransmission(false); // Always send a restart command. Do not release the bus. ESP32 supports this.
+    if (i2cError != 0)
+    {
+        return (0); // Sensor did not ACK
+    }
+
+    // Forcing requestFrom to use a restart would be unwise. If bytesAvailable is zero, we want to surrender the bus.
+    uint16_t bytesReturned = myWire.requestFrom(gnssAddress, static_cast<uint8_t>(2));
+    if (bytesReturned != 2)
+    {
+        return (0); // Sensor did not return 2 bytes
+    }
+    else // if (myWire.available())
+    {
+        uint8_t msb = myWire.read();
+        uint8_t lsb = myWire.read();
+        bytesAvailable = (((uint16_t)msb) << 8) | lsb;
+    }
+
+    return (bytesAvailable);
+} // /gnssI2cAvailable
+
+// Add b to the uartI2cRingBuffer if space is available
+bool addToUartI2cBuffer(uint8_t b)
+{
+    if (ringBufferSpace(uartI2cBufferHead, uartI2cBufferTail) > 0)
+    {
+        uartI2cRingBuffer[uartI2cBufferHead++] = b;
+        uartI2cBufferHead %= ringBufferSize; // Wrap-around
+        return true;
+    }
+
+    return false; // Buffer is full
+}
+
+// Send numBytes from i2cUartBuffer to Serial
+// This function assumes ringBufferAvailable has been called externally
+// It will read the bytes regardless
+bool sendUartBytes(uint16_t numBytes)
+{
+    if (numBytes == 0)
+        return false;
+
+    if (numBytes > i2cUartSendLimit)
+        numBytes = i2cUartSendLimit;
+
+    static uint8_t store[i2cUartSendLimit]; // Store the data temporarily
+    for (uint16_t i = 0; i < numBytes; i++)
+        store[i] = readI2cUartBuffer();
+
+    return (mySerial.write(store, numBytes) == numBytes);
+}
+
+// Send numBytes from uartI2cBuffer to GNSS
+// This function assumes ringBufferAvailable has been called externally
+// It will read the bytes regardless
+// Note: we cannot send a single byte. numBytes must be >= 2.
+//       Otherwise the write will set the register address instead.
+bool sendI2cBytes(uint16_t numBytes)
+{
+    if (numBytes < 2)
+        return false;
+
+    if (numBytes > uartI2cSendLimit)
+        numBytes = uartI2cSendLimit;
+
+    static uint8_t store[uartI2cSendLimit]; // Store the data temporarily
+    for (uint16_t i = 0; i < numBytes; i++)
+        store[i] = readUartI2cBuffer();
+
+    // Assume the GNSS register address is already set to 0xFF
+    myWire.beginTransmission(gnssAddress);
+    myWire.write((const uint8_t *)store, numBytes);
+    if (myWire.endTransmission() == 0)
+        return true;
+
+    return false;
+}
+
+// Read numBytes from the GNSS. Store them in i2cUartRingBuffer
+bool readI2cBytes(uint16_t numBytes)
+{
+    if (numBytes == 0)
+        return false;
+
+    uint16_t bytesRequested = 0;
+    uint16_t bytesLeftToRead = numBytes;
+
+    while ((bytesLeftToRead > 0) && (bytesRequested < numBytes))
+    {
+        uint8_t bytesToRead;
+        if (bytesLeftToRead > 255)
+            bytesToRead = 255;
+        else
+            bytesToRead = bytesLeftToRead;
+        if (bytesToRead > i2cReadLimit)
+            bytesToRead = i2cReadLimit;
+
+        uint8_t bytesReturned = myWire.requestFrom(gnssAddress, bytesToRead);
+
+        for (uint8_t i = 0; i < bytesReturned; i++)
+        {
+            uint8_t b = myWire.read();
+            if (ringBufferSpace(i2cUartBufferHead, i2cUartBufferTail) > 0)
+            {
+                i2cUartRingBuffer[i2cUartBufferHead++] = b;
+                i2cUartBufferHead %= ringBufferSize; // Wrap-around
+            }
+            else
+            {
+                // Buffer is full
+            }
+        }
+
+        bytesRequested += bytesToRead;
+        bytesLeftToRead -= bytesReturned;
+    }
+
+    return (bytesLeftToRead == 0);
+}
+
+// Read a single byte from the uartI2cRingBuffer
+// This function assumes ringBufferAvailable has been called externally
+// It will read a byte regardless
+uint8_t readUartI2cBuffer()
+{
+    uint8_t b = uartI2cRingBuffer[uartI2cBufferTail++];
+    uartI2cBufferTail %= ringBufferSize; // Wrap-around
+    return b;
+}
+
+// Read a single byte from the i2cUartRingBuffer
+// This function assumes ringBufferAvailable has been called externally
+// It will read a byte regardless
+uint8_t readI2cUartBuffer()
+{
+    uint8_t b = i2cUartRingBuffer[i2cUartBufferTail++];
+    i2cUartBufferTail %= ringBufferSize; // Wrap-around
+    return b;
+}
+
+// Calculate how many ring buffer bytes are available
+uint16_t ringBufferAvailable(uint16_t head, uint16_t tail)
+{
+    if (head == tail) // If the buffer is empty
+        return 0;
+    if (head > tail)
+    { // No wrap-around
+        return (head - tail);
+    }
+    // Use uint32_t to make the wrap-around easier
+    uint32_t h = head;
+    uint32_t t = tail;
+    const uint32_t s = ringBufferSize;
+    return (uint16_t)((h + s) - t);
+}
+
+// Calculate how much space is available in the ring buffer
+// Buffer can hold (ringBufferSize - 1) bytes
+// Buffer is empty when head == tail
+// Buffer is full when head is one byte behind tail
+uint16_t ringBufferSpace(uint16_t head, uint16_t tail)
+{
+    return (ringBufferSize - (ringBufferAvailable(head, tail) + 1));
+}
